Aspects of the present invention relate to a control system for a vehicle (10) and an associated method of controlling a vehicle (10). The control system comprises one or more controllers, the control system being configured to: receive at least one identity signal indicative of an identity of a driver of the vehicle (10); determine a driver profile in accordance with a driver identity indicated by the or each identity signal; estimate a driver intent in accordance with the driver profile; and schedule a vehicle action in accordance with the driver intent.